摘要
将线结构光测头安装在机器人末端,构成自由曲面非接触测量系统.利用齐次坐标变换理论建立测量系统的数学模型.针对该模型中的手眼标定问题,使用平面作为参考物,控制机器人以特定的位姿测量该平面,建立关于手眼关系的约束方程,并给出手眼参数的封闭解.通过对实际系统进行标定实验,验证了算法的有效性.
A platform composed of a structure-light vision sensor and an industrial robot is established for noncontact freedom surface measurement. A mathematic model for measuring system is constructed by using homegenous coordinate transform principle. A reference plane with unknown orientation and position information is ultilized to calibrate the hand-eye transformation. In this method, the measuring the reference plane at special robot hand poses. equations about the hand-eye parameters are estabished by Test results of real experiments show the effectiveness of the method.
出处
《控制与决策》
EI
CSCD
北大核心
2009年第6期885-888,共4页
Control and Decision
基金
国家自然科学基金项目(50575029).
关键词
线结构光测头
机器人
平面标靶
手眼标定
Line-structured-light sensor
Robot
Planar calibration target
Hand-eye calibration
